diff --git a/include/ignition/gazebo/Types.hh b/include/ignition/gazebo/Types.hh
index ee0a75e106..d30ae00d06 100644
--- a/include/ignition/gazebo/Types.hh
+++ b/include/ignition/gazebo/Types.hh
@@ -22,6 +22,8 @@
 #include <functional>
 #include <utility>
 
+#include "ignition/gazebo/Entity.hh"
+
 namespace ignition
 {
   namespace gazebo
@@ -89,10 +91,10 @@ namespace ignition
 
     /// \brief A key that uniquely identifies, at the global scope, a component
     /// instance
-    /// \note On version 6, the 2nd element equals the entity ID.
+    /// \note On version 6, the 2nd element was changed to the entity ID.
     /// \deprecated Deprecated on version 6, removed on version 7. Use
     /// ComponentTypeId + Entity instead.
-    using ComponentKey = std::pair<ComponentTypeId, ComponentId>;
+    using ComponentKey = std::pair<ComponentTypeId, Entity>;
 
     /// \brief typedef for query callbacks
     using EntityQueryCallback = std::function<void (const UpdateInfo,
diff --git a/include/ignition/gazebo/components/Component.hh b/include/ignition/gazebo/components/Component.hh
index b1c822892a..218a96bbc9 100644
--- a/include/ignition/gazebo/components/Component.hh
+++ b/include/ignition/gazebo/components/Component.hh
@@ -226,7 +226,7 @@ namespace serializers
 
 namespace detail
 {
-  class EntityStorage;
+  class EntityComponentStorage;
 }
 
 namespace components
@@ -296,10 +296,10 @@ namespace components
     /// users interact with components.
     private: bool removed{false};
 
-    // Make EntityStorage and EntityComponentManager a friend of the
+    // Make EntityComponentStorage and EntityComponentManager a friend of the
     // BaseComponent class so that they have access to a component's "removed"
     // flag.
-    friend class ignition::gazebo::detail::EntityStorage;
+    friend class ignition::gazebo::detail::EntityComponentStorage;
     friend class ignition::gazebo::EntityComponentManager;
   };
 
diff --git a/include/ignition/gazebo/detail/EntityStorage.hh b/include/ignition/gazebo/detail/EntityComponentStorage.hh
similarity index 98%
rename from include/ignition/gazebo/detail/EntityStorage.hh
rename to include/ignition/gazebo/detail/EntityComponentStorage.hh
index 1428613e76..5cae9f3f40 100644
--- a/include/ignition/gazebo/detail/EntityStorage.hh
+++ b/include/ignition/gazebo/detail/EntityComponentStorage.hh
@@ -35,7 +35,7 @@ namespace gazebo
 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace detail
 {
-/// \brief Enum class that lets external users of EntityStorage know what
+/// \brief Enum class that lets external users of EntityComponentStorage know what
 /// type of action took place when a component was added to an entity.
 enum class ComponentAdditionResult
 {
@@ -59,7 +59,7 @@ enum class ComponentAdditionResult
 ///
 /// \note The symbols are visible so that unit tests can be written for this
 /// class.
-class IGNITION_GAZEBO_VISIBLE EntityStorage
+class IGNITION_GAZEBO_VISIBLE EntityComponentStorage
 {
   /// \brief Clear all of the entity and component data that has been tracked.
   /// This "resets" the storage to its initial, empty state.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3e01ffd724..590ae8e9e0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -45,7 +45,7 @@ set (sources
   BaseView.cc
   Conversions.cc
   EntityComponentManager.cc
-  EntityStorage.cc
+  EntityComponentStorage.cc
   LevelManager.cc
   Link.cc
   Model.cc
@@ -66,24 +66,24 @@ set (gtest_sources
   ${gtest_sources}
   Barrier_TEST.cc
   BaseView_TEST.cc
-  Component_TEST.cc
   ComponentFactory_TEST.cc
-  EntityStorage_TEST.cc
+  Component_TEST.cc
   Conversions_TEST.cc
   EntityComponentManager_TEST.cc
+  EntityComponentStorage_TEST.cc
   EventManager_TEST.cc
-  ign_TEST.cc
   Link_TEST.cc
   Model_TEST.cc
   SdfEntityCreator_TEST.cc
   SdfGenerator_TEST.cc
-  Server_TEST.cc
   ServerConfig_TEST.cc
+  Server_TEST.cc
   SimulationRunner_TEST.cc
-  System_TEST.cc
   SystemLoader_TEST.cc
+  System_TEST.cc
   Util_TEST.cc
   World_TEST.cc
+  ign_TEST.cc
   network/NetworkConfig_TEST.cc
   network/PeerTracker_TEST.cc
   network/NetworkManager_TEST.cc
diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc
index df2bd1e2f1..514cb5275e 100644
--- a/src/EntityComponentManager.cc
+++ b/src/EntityComponentManager.cc
@@ -27,7 +27,7 @@
 #include <ignition/math/graph/GraphAlgorithms.hh>
 #include "ignition/gazebo/components/Component.hh"
 #include "ignition/gazebo/components/Factory.hh"
-#include "ignition/gazebo/detail/EntityStorage.hh"
+#include "ignition/gazebo/detail/EntityComponentStorage.hh"
 #include "ignition/gazebo/EntityComponentManager.hh"
 
 using namespace ignition;
@@ -78,7 +78,7 @@ class ignition::gazebo::EntityComponentManagerPrivate
 
   /// \brief A class that stores all components and maps entities to their
   /// component types
-  public: detail::EntityStorage entityStorage;
+  public: detail::EntityComponentStorage entityStorage;
 
   /// \brief All component types that have ever been created.
   public: std::unordered_set<ComponentTypeId> createdCompTypes;
diff --git a/src/EntityStorage.cc b/src/EntityComponentStorage.cc
similarity index 87%
rename from src/EntityStorage.cc
rename to src/EntityComponentStorage.cc
index 51c694eff2..495441342e 100644
--- a/src/EntityStorage.cc
+++ b/src/EntityComponentStorage.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *
 */
-#include "ignition/gazebo/detail/EntityStorage.hh"
+#include "ignition/gazebo/detail/EntityComponentStorage.hh"
 
 #include <cstdint>
 #include <memory>
@@ -30,14 +30,14 @@ using namespace gazebo;
 using namespace detail;
 
 //////////////////////////////////////////////////
-void EntityStorage::Reset()
+void EntityComponentStorage::Reset()
 {
   this->entityComponents.clear();
   this->componentTypeIndex.clear();
 }
 
 //////////////////////////////////////////////////
-bool EntityStorage::AddEntity(const Entity _entity)
+bool EntityComponentStorage::AddEntity(const Entity _entity)
 {
   const auto [it, success] = this->entityComponents.insert({_entity,
       std::vector<std::unique_ptr<components::BaseComponent>>()});
@@ -51,7 +51,7 @@ bool EntityStorage::AddEntity(const Entity _entity)
 }
 
 //////////////////////////////////////////////////
-bool EntityStorage::RemoveEntity(const Entity _entity)
+bool EntityComponentStorage::RemoveEntity(const Entity _entity)
 {
   const auto removedComponents = this->entityComponents.erase(_entity);
   const auto removedTypeIdxMap = this->componentTypeIndex.erase(_entity);
@@ -59,7 +59,7 @@ bool EntityStorage::RemoveEntity(const Entity _entity)
 }
 
 //////////////////////////////////////////////////
-ComponentAdditionResult EntityStorage::AddComponent(
+ComponentAdditionResult EntityComponentStorage::AddComponent(
     const Entity _entity,
     std::unique_ptr<components::BaseComponent> _component)
 {
@@ -101,7 +101,7 @@ ComponentAdditionResult EntityStorage::AddComponent(
 }
 
 //////////////////////////////////////////////////
-bool EntityStorage::RemoveComponent(const Entity _entity,
+bool EntityComponentStorage::RemoveComponent(const Entity _entity,
     const ComponentTypeId _typeId)
 {
   auto compPtr = this->Component(_entity, _typeId);
@@ -116,7 +116,7 @@ bool EntityStorage::RemoveComponent(const Entity _entity,
 }
 
 //////////////////////////////////////////////////
-const components::BaseComponent *EntityStorage::Component(
+const components::BaseComponent *EntityComponentStorage::Component(
     const Entity _entity,
     const ComponentTypeId _typeId) const
 {
@@ -144,15 +144,16 @@ const components::BaseComponent *EntityStorage::Component(
 }
 
 //////////////////////////////////////////////////
-components::BaseComponent *EntityStorage::Component(const Entity _entity,
-    const ComponentTypeId _typeId)
+components::BaseComponent *EntityComponentStorage::Component(
+    const Entity _entity, const ComponentTypeId _typeId)
 {
   return const_cast<components::BaseComponent *>(
-      static_cast<const EntityStorage &>(*this).Component(_entity, _typeId));
+      static_cast<const EntityComponentStorage &>(*this).Component(_entity,
+      _typeId));
 }
 
 //////////////////////////////////////////////////
-const components::BaseComponent *EntityStorage::ValidComponent(
+const components::BaseComponent *EntityComponentStorage::ValidComponent(
     const Entity _entity, const ComponentTypeId _typeId) const
 {
   auto compPtr = this->Component(_entity, _typeId);
@@ -162,7 +163,7 @@ const components::BaseComponent *EntityStorage::ValidComponent(
 }
 
 //////////////////////////////////////////////////
-components::BaseComponent *EntityStorage::ValidComponent(
+components::BaseComponent *EntityComponentStorage::ValidComponent(
     const Entity _entity, const ComponentTypeId _typeId)
 {
   auto compPtr = this->Component(_entity, _typeId);
diff --git a/src/EntityStorage_TEST.cc b/src/EntityComponentStorage_TEST.cc
similarity index 93%
rename from src/EntityStorage_TEST.cc
rename to src/EntityComponentStorage_TEST.cc
index 0f4d8c12e8..28a69f7c00 100644
--- a/src/EntityStorage_TEST.cc
+++ b/src/EntityComponentStorage_TEST.cc
@@ -26,7 +26,7 @@
 #include "ignition/gazebo/components/Factory.hh"
 #include "ignition/gazebo/components/LinearVelocity.hh"
 #include "ignition/gazebo/components/Pose.hh"
-#include "ignition/gazebo/detail/EntityStorage.hh"
+#include "ignition/gazebo/detail/EntityComponentStorage.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -42,7 +42,7 @@ const Entity entity3 = 3;
 const Entity entity4 = 4;
 
 /////////////////////////////////////////////////
-class EntityStorageTest : public ::testing::Test
+class EntityComponentStorageTest : public ::testing::Test
 {
   // Documentation inherited
   protected: void SetUp() override
@@ -65,7 +65,7 @@ class EntityStorageTest : public ::testing::Test
     return this->storage.AddComponent(_entity, std::move(compPtr));
   }
 
-  /// \brief Helper function that uses EntityStorage::ValidComponent to get
+  /// \brief Helper function that uses EntityComponentStorage::ValidComponent to get
   /// a component of a particular type that belongs to an entity.
   /// \param[in] _entity The entity
   /// \return A pointer to the component of the templated type. If no such
@@ -87,7 +87,7 @@ class EntityStorageTest : public ::testing::Test
     return static_cast<const ComponentTypeT *>(baseComp);
   }
 
-  public: detail::EntityStorage storage;
+  public: detail::EntityComponentStorage storage;
 
   public: const Entity e1{1};
 
@@ -95,7 +95,7 @@ class EntityStorageTest : public ::testing::Test
 };
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, AddEntity)
+TEST_F(EntityComponentStorageTest, AddEntity)
 {
   // Entities were already added to the storage in the test fixture's SetUp
   // method. So, try to add entities that are already in the storage.
@@ -109,7 +109,7 @@ TEST_F(EntityStorageTest, AddEntity)
 }
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, RemoveEntity)
+TEST_F(EntityComponentStorageTest, RemoveEntity)
 {
   // Try to remove entities that aren't in the storage
   EXPECT_FALSE(this->storage.RemoveEntity(3));
@@ -125,7 +125,7 @@ TEST_F(EntityStorageTest, RemoveEntity)
 }
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, AddComponent)
+TEST_F(EntityComponentStorageTest, AddComponent)
 {
   // Add components to entities in the storage
   EXPECT_EQ(detail::ComponentAdditionResult::NEW_ADDITION,
@@ -166,8 +166,8 @@ TEST_F(EntityStorageTest, AddComponent)
         &linVelComp2));
 
   // We can't check if the modification actually took place since this requires
-  // functionality beyond the EntityStorage API (see the comments in the
-  // EntityStorage::AddComponent method definition for more details), but we
+  // functionality beyond the EntityComponentStorage API (see the comments in the
+  // EntityComponentStorage::AddComponent method definition for more details), but we
   // can at least check that the components still exist after modification
   ASSERT_NE(nullptr, this->Component<components::Pose>(this->e1));
   ASSERT_NE(nullptr, this->Component<components::LinearVelocity>(this->e2));
@@ -195,7 +195,7 @@ TEST_F(EntityStorageTest, AddComponent)
 }
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, RemoveComponent)
+TEST_F(EntityComponentStorageTest, RemoveComponent)
 {
   // Add components to entities
   EXPECT_EQ(detail::ComponentAdditionResult::NEW_ADDITION,
@@ -231,7 +231,7 @@ TEST_F(EntityStorageTest, RemoveComponent)
 }
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, ValidComponent)
+TEST_F(EntityComponentStorageTest, ValidComponent)
 {
   // Attach a component to an entity
   EXPECT_EQ(detail::ComponentAdditionResult::NEW_ADDITION,
@@ -260,9 +260,9 @@ TEST_F(EntityStorageTest, ValidComponent)
 
 /////////////////////////////////////////////////
 // Similar to the ValidComponent test, but this test covers the const version of
-// the EntityStorage::ValidComponent method (the ValidComponent test covered
-// the non-const version of the EntityStorage::ValidComponent)
-TEST_F(EntityStorageTest, ValidComponentConst)
+// the EntityComponentStorage::ValidComponent method (the ValidComponent test covered
+// the non-const version of the EntityComponentStorage::ValidComponent)
+TEST_F(EntityComponentStorageTest, ValidComponentConst)
 {
   // Attach a component to an entity
   EXPECT_EQ(detail::ComponentAdditionResult::NEW_ADDITION,
@@ -285,7 +285,7 @@ TEST_F(EntityStorageTest, ValidComponentConst)
 }
 
 /////////////////////////////////////////////////
-TEST_F(EntityStorageTest, Reset)
+TEST_F(EntityComponentStorageTest, Reset)
 {
   // Add components to entities in the storage
   EXPECT_EQ(detail::ComponentAdditionResult::NEW_ADDITION,
diff --git a/test/integration/view.cc b/test/integration/view.cc
index d9661d939c..f01cf9e3d0 100644
--- a/test/integration/view.cc
+++ b/test/integration/view.cc
@@ -28,7 +28,7 @@
 #include "ignition/gazebo/Entity.hh"
 #include "ignition/gazebo/Types.hh"
 #include "ignition/gazebo/detail/View.hh"
-#include "ignition/gazebo/detail/EntityStorage.hh"
+#include "ignition/gazebo/detail/EntityComponentStorage.hh"
 #include "ignition/gazebo/components/Component.hh"
 #include "ignition/gazebo/components/Factory.hh"
 #include "ignition/gazebo/components/Model.hh"
@@ -62,7 +62,7 @@ class ViewTest : public::testing::Test
   }
 };
 
-/// \brief Helper class that wraps EntityStorage to provide a simplified
+/// \brief Helper class that wraps EntityComponentStorage to provide a simplified
 /// API for working with entities and their components. This class also stores
 /// a set of user-defined views and handles updating views as needed whenever
 /// an entity's components are modified.
@@ -187,7 +187,7 @@ class StorageViewWrapper
     EXPECT_EQ(entityComp->Data(), _component.Data());
   }
 
-  /// \brief Helper function that uses EntityStorage::ValidComponent to get
+  /// \brief Helper function that uses EntityComponentStorage::ValidComponent to get
   /// a component of a particular type that belongs to an entity.
   /// \param[in] _entity The entity
   /// \return A pointer to the component of the templated type. If no such
@@ -230,8 +230,8 @@ class StorageViewWrapper
     return this->storage.AddComponent(_entity, std::move(compPtr));
   }
 
-  /// \brief The actual detail::EntityStorage instance
-  private: detail::EntityStorage storage;
+  /// \brief The actual detail::EntityComponentStorage instance
+  private: detail::EntityComponentStorage storage;
 
   /// \brief All of the views that will be updated as needed based on the
   /// changes being made to this->storage